ANSI UL 1004-6-2012 UL Standard for Safety Servo and Stepper Motors (Second Edition Reprint with revisions through and including January 25 2017)《伺服和步进电动机安全性标准》.pdf

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1、UL COPYRIGHTED MATERIAL NOT AUTHORIZED FOR FURTHER REPRODUCTION OR DISTRIBUTION WITHOUT PERMISSION FROM UL UL 1004-6 Servo and Stepper Motors STANDARD FOR SAFETYUL COPYRIGHTED MATERIAL NOT AUTHORIZED FOR FURTHER REPRODUCTION OR DISTRIBUTION WITHOUT PERMISSION FROM ULUL COPYRIGHTED MATERIAL NOT AUTHO

2、RIZED FOR FURTHER REPRODUCTION OR DISTRIBUTION WITHOUT PERMISSION FROM UL UL Standard for Safety for Servo and Stepper Motors, UL 1004-6 Second Edition, Dated June 6, 2012 Summary of Topics This revision of ANSI/UL 1004-6, the Standard for Servo and Stepper Motors, is being issued to update the titl

3、e page with the ANSI approval reaffirmation designation. No changes in requirements are involved. The revisions are substantially in accordance with Proposal(s) on this subject dated December 2, 2016. Text that has been changed in any manner or impacted by ULs electronic publishing system is marked

4、with a vertical line in the margin. All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted in any form by any means, electronic, mechanical photocopying, recording, or otherwise without prior permission of UL. UL provides this Standard as is

5、without warranty of any kind, either expressed or implied, including but not limited to, the implied warranties of merchantability or tness for any purpose. In no event will UL be liable for any special, incidental, consequential, indirect or similar damages, including loss of prots, lost savings, l

6、oss of data, or any other damages arising out of the use of or the inability to use this Standard, even if UL or an authorized UL representative has been advised of the possibility of such damage. In no event shall ULs liability for any damage ever exceed the price paid for this Standard, regardless

7、 of the form of the claim. Users of the electronic versions of ULs Standards for Safety agree to defend, indemnify, and hold UL harmless from and against any loss, expense, liability, damage, claim, or judgment (including reasonable attorneys fees) resulting from any error or deviation introduced wh

8、ile purchaser is storing an electronic Standard on the purchasers computer system. JANUARY 25, 2017 UL 1004-6 tr1UL COPYRIGHTED MATERIAL NOT AUTHORIZED FOR FURTHER REPRODUCTION OR DISTRIBUTION WITHOUT PERMISSION FROM UL JANUARY 25, 2017 UL 1004-6 tr2 No Text on This PageUL COPYRIGHTED MATERIAL NOT A

9、UTHORIZED FOR FURTHER REPRODUCTION OR DISTRIBUTION WITHOUT PERMISSION FROM UL JUNE 6, 2012 (Title Page Reprinted: January 25, 2017) 1 UL 1004-6 Standard for Servo and Stepper Motors First Edition December, 2009 Second Edition June 6, 2012 This ANSI/UL Standard for Safety consists of the Second Editi

10、on including revisions through January 25, 2017. The most recent designation of ANSI/UL 1004-6 as a Reaffirmed American National Standard (ANS) occurred on January 23, 2017. ANSI approval for a standard does not include the Cover Page, Transmittal Pages, and Title Page. Comments or proposals for rev

11、isions on any part of the Standard may be submitted to UL at any time. Proposals should be submitted via a Proposal Request in ULs On-Line Collaborative Standards Development System (CSDS) at https:/. ULs Standards for Safety are copyrighted by UL. Neither a printed nor electronic copy of a Standard

12、 should be altered in any way. All of ULs Standards and all copyrights, ownerships, and rights regarding those Standards shall remain the sole and exclusive property of UL. COPYRIGHT 2017 UNDERWRITERS LABORATORIES INC. ANSI/UL 1004-6-2012 (R2017)UL COPYRIGHTED MATERIAL NOT AUTHORIZED FOR FURTHER REP

13、RODUCTION OR DISTRIBUTION WITHOUT PERMISSION FROM UL JUNE 6, 2012 SERVO AND STEPPER MOTORS - UL 1004-6 2 No Text on This PageUL COPYRIGHTED MATERIAL NOT AUTHORIZED FOR FURTHER REPRODUCTION OR DISTRIBUTION WITHOUT PERMISSION FROM UL CONTENTS INTRODUCTION 1 Scope .4 2 Glossary .4 PERFORMANCE 3 Rating

14、and Temperature Tests .5 3.1 General 5 3.2 Servo motors 5 3.3 Stepper motors .5 MARKINGS 4 General 6 INSTRUCTIONS 5 General 6 JUNE 6, 2012 SERVO AND STEPPER MOTORS - UL 1004-6 3UL COPYRIGHTED MATERIAL NOT AUTHORIZED FOR FURTHER REPRODUCTION OR DISTRIBUTION WITHOUT PERMISSION FROM UL INTRODUCTION 1 S

15、cope 1.1 This Standard is intended to be read together with the Standard for Rotating Electrical Machines General Requirements, UL 1004-1. The requirements in this Standard supplement or amend the requirements in UL 1004-1. The requirements of UL 1004-1 apply unless modied by this Standard. 1.2 This

16、 Standard applies to servo and stepper motors. The requirements in this Standard are intended to evaluate the suitability of the motor for normal use when fed from an appropriate controller (drive) through its manufacturer declared normal operating region. 1.3 This Standard does not address: a) The

17、efficacy of motor overtemperature protection under normal or abnormal conditions; nor b) The operation of a motor in hazardous (Classied) locations. 2 Glossary 2.1 For the purpose of this standard, the following denitions apply. 2.2 CONTINUOUS STALL CURRENT A maximum value of current specied by the

18、manufacturer which when conducted by the motor windings under stalled (locked-rotor) conditions will not cause motor temperature to exceed its rated temperature rise. 2.3 HOLDING TORQUE The maximum static torque that can be applied to the shaft of a stepping motor, excited with rated current, withou

19、t causing rotation. 2.4 PULLOUT TORQUE The maximum torque that a stepper motor is capable of delivering at a given speed before slipping out of synchronization. 2.5 SERVO MOTOR A motor specially designed and built, having a high speed of response and designed for use in a feedback control system, ty

20、pically for precision positioning. 2.6 SOAC A curve on a servo motor torque/speed chart, which denes the limit of the Safe Operating Area for Continuous operation for the given motor. 2.7 STEPPING (STEPPER) MOTOR An electromagnetic machine designed to convert a series of input electrical pulses into

21、 a series of discrete mechanical angular movements. When not slewing, the machine maintains a discrete holding position. JUNE 6, 2012 SERVO AND STEPPER MOTORS - UL 1004-6 4UL COPYRIGHTED MATERIAL NOT AUTHORIZED FOR FURTHER REPRODUCTION OR DISTRIBUTION WITHOUT PERMISSION FROM UL PERFORMANCE 3 Rating

22、and Temperature Tests 3.1 General 3.1.1 This Section replaces 31.2 and 32.1 in UL 1004-1. 3.2 Servo motors 3.2.1 The Rating and Temperature Tests are to be conducted at two points on the SOAC curve: a) Maximum torque and zero speed; and b) Maximum torque and maximum speed. 3.2.2 In each case, the mo

23、tor shall deliver rated torque and speed with the input current not varying from the marked input current rating by more than 10 percent, and the temperatures on materials and components shall not exceed the values specied in the Maximum Temperatures Table (Table 32.1) of UL 1004-1. 3.2.3 At the man

24、ufacturers option, the Rating and Temperature Tests may be repeated to verify operation at the two points on the SOAC curve corresponding to supplementary forced cooling and/or heatsinking. 3.3 Stepper motors 3.3.1 The Rating and Temperature Tests are to be conducted at maximum torque and zero speed

25、 (holding) in accordance with the manufacturer declared operating performance envelope. 3.3.2 In each case, the motor shall receive maximum-phase excitation at full rated voltage and current. 3.3.3 In each case, the motor shall deliver rated torque and speed with the input current not varying from t

26、he marked input current rating by more than 10 percent, and the temperatures on materials and components shall not exceed the values specied in the Maximum Temperatures Table (Table 32.1) of UL 1004-1. If the manufacturers specications require the use of a specied heatsink, the specied heatsink shal

27、l be used in conducting the Rating and Temperature Tests. JUNE 6, 2012 SERVO AND STEPPER MOTORS - UL 1004-6 5UL COPYRIGHTED MATERIAL NOT AUTHORIZED FOR FURTHER REPRODUCTION OR DISTRIBUTION WITHOUT PERMISSION FROM UL MARKINGS 4 General 4.1 A servo motor is required only to bear the markings described

28、 in 44.1 (a) (d) and (g) of UL 1004-1. It is additionally required to have the following markings provided either on the motor or on the smallest packaging: a) Continuous stall current; and b) Maximum rotational speed. 4.2 A stepper motor is required only to bear the markings described in 44.1 (a) (

29、d), (g), and (h) of UL 1004-1. It is additionally required to have the following markings provided either on the motor or on the smallest packaging: a) Holding torque; and b) Maximum rotational speed. INSTRUCTIONS 5 General 5.1 The required information specied in 5.2 5.4 shall be provided in the ins

30、tructions or specication sheets provided with the product. 5.2 Manufacturers of servo and stepper motors shall provide applicable specications and charts of declared motor operating performance. 5.3 In the case of servomotors, this shall include a torque vs. speed chart indicating the SOAC curve for

31、 the motor as well as, at the manufacturers option, boundaries of safe continuous operation using an external blower and/or heatsink. An example of such a chart is shown in Figure 5.1. This is generated text for gtxt. JUNE 6, 2012 SERVO AND STEPPER MOTORS - UL 1004-6 6UL COPYRIGHTED MATERIAL NOT AUT

32、HORIZED FOR FURTHER REPRODUCTION OR DISTRIBUTION WITHOUT PERMISSION FROM UL 5.4 In the case of stepper motors, this shall include a speed or stepping rate vs. torque chart indicating the pull out torque boundary, the maximum speed, maximum voltage, maximum current, and the holding torque. Figure 5.1

33、 Sample SOAC curve JUNE 6, 2012 SERVO AND STEPPER MOTORS - UL 1004-6 7UL COPYRIGHTED MATERIAL NOT AUTHORIZED FOR FURTHER REPRODUCTION OR DISTRIBUTION WITHOUT PERMISSION FROM UL JUNE 6, 2012 SERVO AND STEPPER MOTORS - UL 1004-6 8 No Text on This PageUL COPYRIGHTED MATERIAL NOT AUTHORIZED FOR FURTHER REPRODUCTION OR DISTRIBUTION WITHOUT PERMISSION FROM UL